In our work, we study how methods of machine learning could be used to let iCub learn to reach and grasp objects.Simulator offers various propriocentric information about its state. Hovewer, we could get only the position of the center of iCub’s hand and that is not enough to calculate hand orientation in the space for example.

Therefore I have modified the iCub simulator source code to enable simulator to provide information about position of other hand parts like thumb’s 1st joint, middle finger 1st joint and so on. With this additional information I am able to calculate hand orientation in the 3D space with use of goniometric functions.

In the following screenshot, I tried to get positions of many iCub hand parts (identified by indexes from iCub.cpp) and I created static boxes on these places.